Laser-based measurement device and movable platform

ABSTRACT

A laser-based measurement device includes a laser transmitter; a laser receiver; an optical device configured to guide a laser beam emitted by the laser transmitter out of the laser-based measurement device and guide the laser beam reflected by an external environment in the laser receiver; and a driving device including a first magnetic member connected to the optical device and a second magnetic member. The driving device is configured to drive the optical device to vibrate through interaction between the first magnetic member and the second magnetic member, to change a guiding direction of the laser beam passing through the optical device.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of U.S. patentapplication Ser. No. 16/587,495, filed on Sep. 30, 2019, which is acontinuation application of International Application No.PCT/CN2017/078619, filed on Mar. 29, 2017, the entire contents of bothof which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the technology field of sensors and,more particularly, to a laser-based measurement device and a movableplatform.

BACKGROUND

In related technologies, a laser-based measurement device include alaser transmitter that transmits a laser beam (or laser light) to alens, and the lens reflects the laser beam to an object to be measured.At the same time, the lens is driven to rotate by a motor. A laserreceiver receives the laser beam reflected by the object, therebyperforming a measurement related to the object, such as measuring adistance, or performing a survey. In related technologies, however, thevolume of the laser-based measurement device is typically bulky, inparticular, the thickness of the laser-based measurement device in anaxial direction is large. Thus, the current technology cannot provide acompact laser-based measurement device.

SUMMARY

In accordance with an aspect of the present disclosure, there isprovided a laser-based measurement device. The laser-based measurementdevice includes a motor comprising a hollow shaft. The laser-basedmeasurement device also includes a laser transmitter disposed in thehollow shaft. The laser-based measurement device also includes anoptical device disposed at the motor. The motor is configured to drivethe optical device to rotate. The optical device is configured to guidea laser beam transmitted by the laser transmitter out of the hollowshaft, or to guide the laser beam reflected by an external environmentinto the hollow shaft.

In accordance with another aspect of the present disclosure, there isprovided a laser-based measurement device. The laser-based measurementdevice includes a laser transmitter configured to emit a laser beam. Thelaser-based measurement device also includes a laser receiver configuredto receive the laser beam. The laser-based measurement device alsoincludes an optical device configured to guide the laser beamtransmitted by the laser transmitter out of the laser-based measurementdevice, or to guide the laser beam reflected by an external environmentinto the laser receiver. The laser-based measurement device alsoincludes a motor configured to drive the optical device to rotate. Thelaser-based measurement device further includes a driving devicecomprising a first magnetic member and a second magnetic member, thefirst magnetic member connected with the optical device, the drivingdevice configured to cause the first magnetic member and the secondmagnetic member to interact with one another to drive the optical deviceto vibrate to change a guiding direction of the laser beam passingthrough the optical device.

In accordance with another aspect of the present disclosure, there isprovided a laser-based measurement device. The laser-based measurementdevice includes a laser transmitter configured to transmit a laser beam.The laser-based measurement device also includes a laser receiverconfigured to receive the laser beam. The laser-based measurement devicealso includes an optical device configured to guide the laser beamtransmitted by the laser transmitter out of the laser-based measurementdevice, or to guide the laser beam reflected by an external environmentinto the laser receiver. The laser-based measurement device alsoincludes a motor configured to drive the optical device to rotate. Thelaser-based measurement device also includes a driving device configuredto drive the optical device to vibrate to change a guiding direction ofthe laser passing through the optical device. The laser-basedmeasurement device further includes an angle detection device staticallydisposed relative to a stator of the motor and configured to detect avibration angle of the optical device.

BRIEF DESCRIPTION OF THE DRAWINGS

To better describe the technical solutions of the various embodiments ofthe present disclosure, the accompanying drawings showing the variousembodiments will be briefly described. As a person of ordinary skill inthe art would appreciate, the drawings show only some embodiments of thepresent disclosure. Without departing from the scope of the presentdisclosure, those having ordinary skills in the art could derive otherembodiments and drawings based on the disclosed drawings withoutinventive efforts.

FIG. 1 is a perspective view of a laser-based measurement device,according to an example embodiment.

FIG. 2 is a cross-sectional view of the laser-based measurement device,according to an example embodiment.

FIG. 3 is a perspective view of a portion of the laser-based measurementdevice, according to an example embodiment.

FIG. 4 is a cross-sectional view of the laser-based measurement device,according to an example embodiment.

FIG. 5 is a schematic diagram of a motor of the laser-based measurementdevice, according to an example embodiment.

FIG. 6 is a schematic diagram of a motor of the laser-based measurementdevice, according to another example embodiment.

FIG. 7 is a schematic diagram of a positional relationship between alaser transmitter and a laser receiver of the laser-based measurementdevice, according to an example embodiment.

FIG. 8 is a schematic diagram of a positional relationship between alaser transmitter and a laser receiver of the laser-based measurementdevice, according to another example embodiment.

FIG. 9 is a schematic diagram of a positional relationship between alaser transmitter and a laser receiver of the laser-based measurementdevice, according to another example embodiment.

FIG. 10 is a schematic diagram of a positional relationship between alaser transmitter and a laser receiver of the laser-based measurementdevice, according to another example embodiment.

FIG. 11 is a schematic diagram of a positional relationship between alaser transmitter and a laser receiver of the laser-based measurementdevice, according to another example embodiment.

FIG. 12 is a schematic diagram of a driving device, according to anexample embodiment.

FIG. 13 is a schematic diagram of plan view of a set of coil winding,according to an example embodiment.

FIG. 14 is a schematic diagram of plan view of a set of coil winding,according to another example embodiment.

FIG. 15 is a schematic diagram of plan view of a set of coil winding,according to another example embodiment.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Technical solutions of the present disclosure will be described indetail with reference to the drawings, in which the same numbers referto the same or similar elements unless otherwise specified. It will beappreciated that the described embodiments represent some, rather thanall, of the embodiments of the present disclosure. Other embodimentsconceived or derived by those having ordinary skills in the art based onthe described embodiments without inventive efforts should fall withinthe scope of the present disclosure.

In the present disclosure, when terms such as “center,” “longitudinal,”“lateral,” “length,” “width,” “thickness,” “above,” “upper,” “below,”“lower,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,”“bottom,” “inside,” “outside,” “internal,” “external,” “clockwise,”“counter-clockwise” are used to indicate orientational or positionalrelationship that is based on the orientation or positional relationshipas shown in the drawings, it is for the convenience of describingvarious embodiments and for the simplification of the descriptions. Suchterms do not indicate or imply a related device or element necessarilyhas the specified orientation, or is structurally configured in thespecified orientation or is operated in the specified orientation. Thus,these terms are for illustrative purposes only and are not intended tolimit the scope of the present disclosure. It should be understood thatin the present disclosure, relational terms such as first and second,etc., are only used to distinguish an entity or operation from anotherentity or operation, and do not necessarily imply that there is anactual relationship or order between the entities or operations.Therefore, a “first” or “second” feature may include, explicitly orimplicitly, one or more such features. The term “multiple” means two ormore than two, unless otherwise defined.

As used herein, when a first component (or unit, element, member, part,piece) is referred to as “coupled,” “mounted,” “fixed,” “secured” to orwith a second component, it is intended that the first component may bedirectly coupled, mounted, fixed, or secured to or with the secondcomponent, or may be indirectly coupled, mounted, or fixed to or withthe second component via another intermediate component. The terms“coupled,” “mounted,” “fixed,” and “secured” do not necessarily implythat a first component is permanently coupled with a second component.The first component may be detachably coupled with the second componentwhen these terms are used. When a first component is referred to as“connected” to or with a second component, it is intended that the firstcomponent may be directly connected to or with the second component ormay be indirectly connected to or with the second component via anintermediate component. The connection may include mechanical and/orelectrical connections. The connection may be permanent or detachable.The electrical connection may be wired or wireless. When a firstcomponent is referred to as “disposed,” “located,” or “provided” on asecond component, the first component may be directly disposed, located,or provided on the second component or may be indirectly disposed,located, or provided on the second component via an intermediatecomponent. When a first component is referred to as “disposed,”“located,” or “provided” in a second component, the first component maybe partially or entirely disposed, located, or provided in, inside, orwithin the second component.

In the present disclosure, unless otherwise explicitly defined, when afirst feature is described as being disposed on or below a secondfeature, the first feature and the second feature may directly contactone another, or may not directly contact one another. In someembodiments, the first feature may indirectly contact the second featurethrough one or more other features. When a first feature is described asbeing disposed “at” a second feature, the first feature may be disposedat any suitable position and/or orientation relative to the secondfeature, such as in the second feature, on the second feature, below thesecond feature, connected to the second feature from a side, etc. When afirst feature is described as being disposed “above,” or “over,”“below,” or “under” the second feature, the positional configurationincludes the first feature being right above or over the second feature,being right below or under the second feature, being above or over thesecond feature at any location other than being right above or over thesecond feature, and being blow or under the second feature at anylocation other than being right below or under the second feature. Theterms “above,” “over,” “below,” or “under” may also be used to onlyindicate that the first feature is located higher or lower than thesecond feature relative to a horizontal reference plane.

The following describe various embodiments or examples for realizingvarious structures of the present disclosure. For simplicity, only someexample devices and configurations are described below. Thesedescriptions are for illustrative purposes only, and are not intended tolimit the scope of the present disclosure. In addition, the samereference numbers or characters may be used in various embodiments inthe drawings. The repeated use of the same reference numbers orcharacters is only for simplification and clarity purposes. It does notnecessarily indicate any relationship between various embodiments orconfigurations. The present disclosure also provides examples ofmanufacturing processes and/or materials. A person having ordinary skillin the art can appreciate that other suitable processes and/or materialsmay also be used.

The present disclosure provides a sensor configured to sense or detectinformation relating to an external environment, such as distanceinformation of a target in the environment, angle information,reflection intensity information, velocity information, etc. The sensormay include a driving device, an intermediate medium, a signal receiver,and a signal transmitter. The driving device may be configured to driveat least one of the intermediate medium, the signal receiver, or thesignal transmitter to move. For example, the driving device may beconfigured to drive at least one of the intermediate medium, the signalreceiver, or the signal transmitter to rotate. The signal received bythe signal receiver may be guided by the intermediate medium, and/or thesignal transmitted by the signal transmitter may be guided by theintermediate medium.

In some embodiments, the sensor is a radar. The following descriptionsuse a laser radar as an example radar. In the laser radar, the drivingdevice may include a motor. The intermediate medium may include at leastone optical device configured to transmit and/or guide an opticalsignal. The signal receiver may be a laser receiver configured to detector receive a laser signal (e.g., a laser beam). The signal transmittermay be a laser transmitter configured to transmit or emit a laser signal(e.g., a laser beam).

Referring to FIG. 1 -FIG. 4 , in some embodiments, a laser-basedmeasurement device 100 may include a motor 102, a laser transmitter (oremitter) 104, and an optical device 106.

In some embodiments, the motor may include a hollow shaft 108. The lasertransmitter 104 may be configured to fixedly provided in the hollowshaft 108. The optical device 106 may be coupled with the motor 102. Themotor 102 may be configured to drive the optical device 106 to rotate.The optical device 106 may be configured to guide the laser beam emittedby the laser transmitter 104 out of the hollow shaft 108. In someembodiments, the optical device 106 may be configured to guide a laserbeam reflected by the external environment back into the hollow shaft108.

In some embodiments, in the laser-based measurement device 100, becausethe laser transmitter 104 is provided in the hollow shaft 108 of themotor 102, a dimension in the axial direction of the laser-basedmeasurement device 100 is reduced, thereby realizing a compact design ofthe laser-based measurement device. In addition, by guiding the laserbeam out of or into the hollow shaft 108, the structure of thelaser-based measurement device can be made compact.

In some embodiments, the laser-based measurement device 100 may beapplied to a movable platform. For example, the laser-based measurementdevice 100 may be mounted to a main body of the movable platform. Themovable platform perform a measurement of an external environmentthrough the laser-based measurement device. For example, the laser-basedmeasurement device 100 may be configured to measure a distance betweenthe movable platform and an obstacle, which may be used for obstacleavoidance. As another example, the laser-based measurement device 100may be configured to perform a two-dimensional or three-dimensionalsurvey of the external environment.

In some embodiments, the movable platform may include at least one of anunmanned aircraft, a vehicle, or a remote control vehicle. When thelaser-based measurement device 100 is implemented in an unmannedaircraft, the main body of the movable platform may be the aircraft bodyof the unmanned aircraft. When the laser-based measurement device 100 isimplemented in a vehicle, the movable platform may be the vehicle bodyof the vehicle. When the laser-based measurement device 100 isimplemented in a remote control vehicle, the movable platform may be thevehicle body of the remote control vehicle.

In some embodiments, as shown in FIG. 2 , FIG. 3 , and FIG. 4 , thelaser transmitter 104 may be fixed inside the hollow shaft 108 through amounting member 110. As shown in FIG. 2 and FIG. 4 , the mounting member110 may include a fixing column 112 configured to fix or secure thelaser transmitter 104, a connecting arm 114, and a fixing ring 116. Thefixing column 112 may be disposed in the fixing ring 116. The connectingarm 114 may be configured to connect the fixing column 112 and thefixing ring 116. The fixing ring 116 may be configured to fixedlyconnect with an inner surface of the hollow shaft 108. Through thedisclosed structures, the laser transmitter 104 may be fixedly mountedin the hollow shaft 108. In some embodiments, the fixing column 112 mayinclude a receiving groove 118. The laser transmitter 104 may beprovided in the receiving groove 118, such that it is convenient toinstall or mount the laser transmitter 104. In some embodiments, thefixing column 112 has a cylindrical shape.

In some embodiments, the motor 102 may be an external rotor motor. Asshown in FIGS. 2 and 5 , the motor 102 may include a rotor 120. Therotor 120 may include a magnet 122 disposed at an outer side of a coilwinding 126 of a stator 124 of the motor 102. In some embodiments, asshown in FIG. 6 , the motor 102 may be an internal rotor motor. Themagnet of the rotor 120 may be disposed at an inner side the coilwinding of the stator 124.

In some embodiments, as shown in FIG. 4 , the hollow shaft 108 may bedisposed on a base 128 of the motor 102. In the embodiment shown in FIG.4 , the motor 102 is an external rotor motor. The stator 124 of themotor 102 may be fixedly disposed on the base 128. In some embodiments,the base 128 may be provided with a boss 130. The stator 124 may befixed onto the boss 130. A space or gap 132 may be formed between abottom surface of rotor 124 and a top surface of the base 128. The gap132 may increase the heat dissipation efficiency of the motor 102, andreduce or avoid friction between the rotor 120 and the base 128.

In some embodiments, the hollow shaft 108 may be disposed on the base128. The hollow shaft 108 may be perpendicularly disposed on the base128 to reduce the volume of the motor 102. In some embodiments, thehollow shaft 108 may be disposed concentrically with the stator 124,which may further reduce the volume of the motor 102.

In some embodiments, the stator 124 and the rotor 120 of the motor 102may be rotatably coupled with one another. In some embodiments, as shownin FIG. 4 , the rotor 120 may include a hollow rotor shaft 134. Therotor shaft 134 may be rotatably coupled with the stator 124 through abearing 136. The rotatable coupling through the bearing 136 is simpleand reliable.

In some embodiments, one or more bearings 136 may be included. Forexample, in some embodiments, there may be two bearings 136 disposedspaced from one another. The stator 124 may include a position limitingmember 138 clamped by the two bearings 136. The position limiting member138 may maintain a horizontal level of the rotor 120 when the rotor 120rotates. In some embodiments, the stator 124 may include a hollow statorshaft 140 disposed outside of the circumference of the rotor shaft 134.The position limiting member 138 may have a continuous ring shape, or adiscrete or discontinuous ring shape, and may protrude from an innersurface of the stator shaft 140. The inner surface of the stator shaft140 may be fixedly coupled with outer rings of the bearings 136, and anouter surface of the rotor shaft 134 may be fixedly coupled with innerrings of the bearings 136. The position limiting member 138 may beclamped by two outer rings of two bearings 136. The two bearings 136 maybe disposed spaced from one another along a rotation axis O1 of therotor 120.

In some embodiments, to better secure the bearing 136, a carrying member142 may protrude outwardly from an end of the rotor shaft 134. One ofthe bearings 136 that is located at the lower position may be carried bythe carrying member 142.

In some embodiments, the rotor shaft 134 may at least partiallysleeve-fit with the hollow shaft 108. In some embodiments, the rotorshaft 134 may be rotatably and concentrically disposed surrounding thehollow shaft 108 with a gap. The disclosed structure may reduce theresisting force exerted on the rotor 120 when the rotor 120 rotates.

In some embodiments, an axis O2 of the hollow shaft 108 may be co-axialwith a rotation axis O1 of the rotor 120. This configuration may reducethe volume of the motor 102. In some embodiments, the axis O2 of thehollow shaft 108, the rotation axis O1 of the rotor 120, and the axis ofthe stator 124 may be co-axial. In some embodiments, the hollow shaft108, the stator shaft 140, and the rotor shaft 134 may all have a hollowcylindrical shape. The rotor 120 may rotate around the axis of the rotorshaft 134. In other words, the rotation axis O1 of the rotor 120 may beco-axial with the axis of the rotor shaft 134.

In some embodiments, the optical device 106 may include one piece, twopieces, or more than two pieces, and may be configured to carry out acomplex optical scanning motion.

In some embodiments, the optical device 106 may include at least one of:a reflective device for reflecting the laser beam or a refractive devicefor refracting the laser beam. The optical device 106 may be selectedsuch that the cost for the laser-based measurement device 100 may beminimized.

In some embodiments, the optical device 106 may include a reflectivedevice. The reflective device may reflect the laser beam generated bythe laser transmitter 104 to the external environment. The reflectivedevice may also be configured to reflect the laser beam reflected by theexternal environment back into the hollow shaft 108. When thelaser-based measurement device 100 operates, the laser transmitter 104may transmit a laser beam to the reflective device, and the reflectivedevice may reflect the laser beam to the external environment. The motor102 may drive the reflective device to rotate, such that the laser beamreflected by the reflective device scans within an optical scanningregion around the rotation axis of the reflective device. The light(e.g., laser beam) reflected by the reflective device may be reflectedback by the external environment, and the reflective device reflects thelight reflected by the external environment into the hollow shaft 108.The light reflected back by the external environment may be detected,thereby realizing the measurement of the external environment. When thereflective device rotates 360 degrees, a 360-degree optical scanningregion can be formed. In some embodiments, the reflective deviceincludes a reflective lens. The reflective lens may include a suitablematerial, or may include a thin piece manufactured using a MEMS (microelectro-mechanical system) process.

In some embodiments, the optical device 106 includes a refractivedevice. The refractive device may be configured to refract the laserbeam transmitted by the laser transmitter 104 to the externalenvironment, and to refract the laser beam reflective back by theexternal environment into the hollow shaft 108. When a light passes arefractive device, the light path is altered as compared to the originallight path before the light enters the refractive device. When the motor102 drives the refractive device to rotate 360 degrees, the light havingan altered path may form an optical scanning region having a light spotshape. The light spot may be projected to the external environment. Insome embodiments, the refractive device includes a concave lens.

In some embodiments, as shown in FIG. 2 , the optical device 106 may bedisposed outside of the hollow shaft 108.

As such, a larger scanning region may be formed.

For example, the motor 102 may include a supporting member 144. Theoptical device 106 may include or be connected with a supporting part146. The optical device 106 may be mounted to the supporting member 144through the supporting part 146. The supporting member 144 may includetwo supporting arms 148 spaced apart from one another. The twosupporting arms 148 may provide stable support to the optical device106. In some embodiments, the rotor 120 of the motor 102 may rotate tocause the optical device 106 to rotate through the supporting member 144fixedly connected with the rotor 120.

In some embodiments, the motor 102 may cause the optical device 106 torotate through a suitable transmission mechanism. For example, thelaser-based measurement device 100 may include a transmission mechanismconnected between the rotor 120 of the motor 102 and the optical device106. The rotor 120 of the motor 102 may cause the optical device 106 torotate through the transmission mechanism.

In some embodiments, the transmission mechanism may include at least oneof a gear or a conveyor belt. When the transmission mechanism includesat least one gear, the number of gears may be one or more than one.Multiple gears may include a driving gear and a driven gear. The drivinggear may be fixedly connected with the rotor 120 of the motor 102. Thedriven gear may be fixedly connected with the optical device 106. Thedriving gear and the driven gear may engage with one another directly,or may be engaged with one another through one or more other gears orgear sets. When the rotor 120 rotates, the gears may transmit therotating energy to the optical device 106, thereby driving the opticaldevice 106 to rotate.

In some embodiments, when the transmission mechanism includes a conveyorbelt, the rotor 120 may be fixedly connected with a first conveyingdisk. The optical device 106 may be fixedly connected with a secondconveying disk. The first conveying disk and the second conveying diskmay be connected by the conveyor belt. The rotation of the rotor 120 maycause the first conveying disk to rotate, thereby causing the opticaldevice 106 to rotate through the conveyor belt and the second conveyingdisk.

In some embodiments, when the transmission mechanism includes a gear anda conveyor belt, the connections between the various elements can referto the above descriptions of the two connection methods.

In some embodiments, the optical device 106 may be disposed in thehollow shaft 108. For example, the motor 102 may include the supportingmember 144 fixedly disposed in the hollow shaft 108. The optical device106 may be connected with a supporting part 146. The optical device 106may be mounted to the supporting member 144 through the supporting part146.

In some embodiments, the laser-based measurement device 100 may includea laser receiver 150 configured to receive light guided into the hollowshaft 108 by the optical device 106. For example, in some embodiments,the laser transmitter 104 may include a laser diode, and the laserreceiver 150 may include a photo diode. When the laser-based measurementdevice 100 operates, the light reflected by the external environment maybe guided or directed into the hollow shaft 108 through the opticaldevice 106. The light may be received by the laser receiver 150, whichmay output a corresponding electrical signal. The electrical signal maybe processed and analyzed to obtain a measurement of the externalenvironment.

In some embodiments, referring to FIG. 2 and FIG. 7 , the laser receiver150 and the optical device 106 may be two adjacent elements on the lightpath of the light guided into the hollow shaft 108 by the optical device106. As such, there may not be any other elements or devices between theoptical device 106 and the laser receiver 150 to reflect, refract, orblock the light. With the disclosed structure, the intensity of thelight received by the laser receiver 150 may be high, which may bedesirable for performing a measurement by the laser-based measurementdevice 100.

In some embodiments, referring to FIG. 8 and FIG. 9 , the laser-basedmeasurement device 100 may include a converging lens 152 configured tofocus the laser beam guided into the hollow shaft 108 by the opticaldevice 106 onto the laser receiver 150. As such, by converging the lightthrough the converging lens 152, the laser receiver 150 may receiveflight reflected by a greater region of the external environment. Inaddition, the location of the laser receiver 150 may be flexible.

In some embodiments, referring to FIG. 8 , the converging lens 152 maybe a convex lens disposed surrounding the laser transmitter 104. Theconvex lens may focus the light guided into the hollow shaft 108 by theoptical device 106 and located surrounding the laser transmitter 104onto the laser receiver 150. As shown in FIG. 4 , the laser-basedmeasurement device 100 may include a circuit board 154. The hollow shaft108 and the laser receiver 150 may be disposed on the circuit board 154.The laser transmitter 104 may be disposed above or over the circuitboard 154. As such, the laser transmitter 104 may exchange data orsignal with other devices or elements through the circuit board 154, andmay be powered by the circuit board 154. In some embodiments, the lasertransmitter 104 may be electrically connected to the circuit board 154.When the motor 102 operates, the hollow shaft 108, the laser transmitter104, the laser receiver 150, and the electrical circuit 154 may bestatic relative to the stator 124 of the motor 102.

In some embodiments, as shown in FIG. 2 and FIG. 9 , the laser-basedmeasurement device 100 may include a mounting member 110 disposed in thehollow shaft 108. The mounting member 110 may include two surfacesfacing against one another, a first surface 156 and a second surface158. The laser transmitter 104 may be disposed on the first surface 156and the laser receiver 150 may be disposed on the second surface 158. Assuch, the space inside the hollow shaft 108 may be fully utilized toconfigure the laser transmitter 104 and the laser receiver 150, whichfacilitate the miniaturization of the laser-based measurement device100.

In some embodiments, as shown in FIG. 9 , the converging lens 152 may bea concave mirror disposed in the hollow shaft 108. The reflective sideof the concave mirror may face the laser receiver 150 and the travelingdirection of the light guided by the optical device 106 into the hollowshaft 108. The concave mirror may focus the light guided by the opticaldevice 106 into the hollow shaft 108 onto the laser receiver 150.

In some embodiments, as shown in FIG. 2 , the first surface of themounting member 110 may be a bottom surface of a receiving groove 118.The second surface 158 of the mounting member 110 may be a bottomsurface of the fixing column. If the fixing column 112 does not includethe receiving groove 118, the first surface 156 is the upper surface ofthe fixing column 112. The first surface 156 may face the optical device106.

In some embodiments, as shown in FIG. 10 , the laser-based measurementdevice 100 may include a combiner lens 160 disposed between the opticaldevice 106 and the laser transmitter 104. The combiner lens 160 may beconfigured to pass the laser beam transmitted from the laser transmitter104 through to the optical device 106, and to reflect the laser beamguided into the hollow shaft 108 by the optical device 106 to the laserreceiver 150. As such, by including the combiner lens 160, the lasertransmitter 104 and the laser receiver 150 may be vertically disposed.

In some embodiments, the combiner lens 160 may include a coating that issemi-transparent and semi-reflective. By selecting a suitable materialfor the coating, the transmission rate and the reflectivity of the laserbeam through the combiner lens 160 may be adjusted.

In some embodiments, as shown in FIG. 11 , the optical device 106 may bereferred to as a first optical device. The laser-based measurementdevice 100 may include the combiner lens 160 and a second optical device162. The combiner lens 160 may be disposed between the first opticaldevice and the laser transmitter 04. The combiner lens 160 may pass thelaser beam transmitted by the laser transmitter 104 to the first opticaldevice. The combiner lens 160 may also be configured to reflect thelight guided into the hollow shaft 108 by the first optical device tothe second optical device. The second optical device may be configuredto reflect the light reflected by the combiner lens 160 to the laserreceiver 150. As such, the laser transmitter 104 and the laser receiver150 may be disposed in parallel.

In some embodiments, as shown in FIG. 2 and FIG. 12 , the laser-basedmeasurement device 100 may include a driving device 164. The opticaldevice 106 may be disposed at the motor 102. The driving device 164 maybe configured to drive the optical device 106 to vibrate. As such, theoptical device 106 may change the direction of the light guided by theoptical device 106 through the vibration, thereby realizing the scanningand measuring of a three-dimensional model using the laser-basedmeasurement device 100. This may extend the application scope of thelaser-based measurement device 100.

In some embodiments, the motor 102 may be configured to drive theoptical device 106 to rotate around a first axis O3. The driving device164 may be configured to drive the optical device to rotate around asecond axis O4 to cause the optical device 106 to vibrate.

In some embodiments, as shown in FIG. 2 and FIG. 3 , the first axis O3and the second axis O4 may perpendicularly cross with one another.Perpendicularly crossing with one another may include perpendicularlycrossing within the same plane, or perpendicularly crossing in athree-dimensional space. In some embodiments, the first axis O3 mayperpendicularly cross with the second axis O4 in the same plan. Thisconfiguration may make the structure of the laser-based measurementdevice 100 compact.

In some embodiments, the first axis and the second axis may not be inparallel with one another. Non-parallel may include non-parallel in thesame plane or in a three-dimensional space. In some embodiments, thefirst axis and the second axis may cross with one another. Crossing withone another may include crossing in the same plane or crossing in thethree-dimensional space.

In some embodiments, as shown in FIG. 2 , FIG. 4 , FIG. 8 , and FIG. 9 ,the laser transmitter 104 and the laser receiver 150 may be located onthe first axis O3. In some embodiments, the laser transmitter 104 may belocated on the first axis O3, and the laser receiver 150 may be locatedoutside of the first axis O3, as shown in FIG. 7 , FIG. 10 , and FIG. 11. In some embodiments, the laser receiver 150 may be located on thefirst axis O3, and the laser transmitter 104 may be located outside ofthe first axis O3. The locations of the laser transmitter 104 and thelaser receiver 150 may be configured based on the actual space of thelaser-based measurement device 100.

In some embodiments, as shown in FIG. 3 , the supporting part 146 may beelastic. The elastic supporting part 146 may stored the vibration energyof the optical device 106, may provide a resilient force, and maygenerate resonance. In some embodiments, the supporting part 146 mayinclude an elastic plate. The length direction of the supporting part146 may be the in the direction of the second axis O4. The supportingpart 146 may provide a uniform resilient force to the optical device106. In some embodiments, the optical device 106 may be configured torotate around the second axis O4 without any resistance.

In some embodiments, the driving device 164 may include a first magneticmember 166 and a second magnetic member 168. The first magnetic member166 may be connected with the optical device 106. The driving device 164may be configured to cause the first magnetic member 166 and the secondmagnetic member 168 to engage with one another to thereby drive theoptical device 106 to vibrate.

In some embodiments, the optical device 106 may be driven by a magneticforce of a magnetic field to rotate, thereby experiencing vibration.This driving method can be wireless, which avoids the sliding ringdesign of contact type driving methods. The disclosed driving method orstructure improves the reliability of the laser-based measurement device100.

In some embodiments, as shown in FIG. 2 and FIG. 6 , the first magneticmember 166 may include a permanent magnet, and the second magneticmember 168 may include an electromagnet. The first magnetic member 166may be disposed at a location that has very little influence on thelight path of the optical device 106. For example, the first magneticmember 166 may be disposed at an edge location of a surface of theoptical device 106 facing against the laser transmitter 104. The numberof the first magnetic member 166 may be configured based on the needs ofthe driving force. The present disclosure does not limit the number ofthe first magnetic member 166. To cause the optical device 106 tovibrate, the electromagnet is supplied with an electric current, whichproduces a changing electromagnetic field. The alternate current inducedchanging electromagnetic field may apply a pulling force or a repellingforce on the first magnetic member 166, thereby causing the opticaldevice 106 to rotate. In some embodiments, the magnet may beferromagnet.

In some embodiments, the first magnetic member 166 may include anelectromagnet, and the second magnetic member 168 may include apermanent magnet. The first magnetic member 166 disposed on the opticaldevice 106 may electrically contact or connect with a power supplydevice through a sliding ring. In some embodiments, the power supplydevice (not shown) may supply the electric power to the motor 102 andother electrical devices through the circuit board 154. In other words,the first magnetic member 166 may obtain the electric power for normaloperation via an electrical connection with the circuit board 154through a sliding ring.

In some embodiments, as shown in FIG. 2 , the electromagnet of thesecond magnetic member 168 may be disposed surrounding a rotation axisof the optical device 106. As such, the electromagnet may provide auniform magnetic force to the first magnetic member 166, which mayrender the optical device 106 to be more stable when vibrating. In someembodiments, the magnitude and direction of the magnetic force providedto the optical device by the electromagnet may not have a relationshipwith the orientation of the optical device 106 along the rotation axisof the optical device 106. This configuration may reduce the complexityof the design of the control scheme for controlling the laser-basedmeasurement device 100 to drive the optical device 106 to vibrate. Insome embodiments, the rotation axis of the optical device 106 may be thefirst axis O3.

In some embodiments, as shown in FIG. 2 , the electromagnet may bedisposed between the hollow shaft 108 and the optical device 106. Thefixing column 112 may be at least partially disposed in theelectromagnet. This configuration may reduce the size or dimension ofthe laser-based measurement device 100 in the axial direction. In someembodiments, the electromagnet may be disposed above the optical device106, or may be disposed at other locations of the optical device 106that do not rotate along with the rotor 120 of the motor 102.

In some embodiments, the electromagnet may be distributed symmetricallyaround the rotation axis of the optical device 106. As such, theelectromagnet is easy to manufacture, and the space it occupies in themotor 102 may be small.

In some embodiments, as shown in FIG. 4 and FIG. 13 , the electromagnetmay include an iron core 170 and a set of coil winding 172. The ironcore 170 may include a ring-shaped groove 174. The set of coil winding172 may include a continuous ring shape, and may be at least partiallydisposed in the ring-shaped groove 174. In some embodiments, the ironcore 170 may be a hollow cylinder. The cross-sectional shape of the ironcore 170 may be a substantially U-shape. The ring-shaped groove 174 maybe disposed in the circumference direction of the iron core 170. Thecontinuous-ring shaped set of coil winding 172 is distributed in360-degree directions around the first axis O3 such that the set of coilwinding 172 provides a magnetic field in each direction to provide muchmore driving forces to cause the optical device 106 to vibrate. The setof coil winding 172 may be at least partially disposed in thering-shaped groove 174. In some embodiments, the set of coil winding 172may be completely disposed in the ring-shaped groove 174. For example, abottom side of the set of coil winding 172 may be lower than an optingof the ring-shaped groove 174. In some embodiments, the set of coilwinding 172 may be partially disposed in the ring-shaped groove 174. Forexample, the top side of the set of coil winding 172 may be higher thanthe opening 178 of the ring-shaped groove 174, as shown in FIG. 4 .

In some embodiments, as shown in FIG. 14 and FIG. 15 , the electromagnetmay include an iron core and a set of coil winding 172 a. The iron coremay include a ring-shaped groove. The set of coil winding 172 a may havea discontinuous ring shape and may be at least partially disposed in thering-shaped groove. In some embodiments, the structure of the iron coremay be the same as, similar to, or different from the structure of theiron core 170.

The discontinuous set of coil winding 172 a may be understood as thecontinuous ring shaped set of coil winding 172 having at least one gap180. The discontinuous ring shaped set of coil winding 172 a may beformed as shown in FIG. 14 , or may be formed as shown in FIG. 15 . FIG.14 shows a gap 180 in the coil winding. FIG. 15 shows two or more gaps180 in the coil winding.

In some embodiments, the electromagnet may not include the iron core.

In some embodiments, the laser-based measurement device 100 may includea processor connected with the second magnetic member 168. The processormay be configured to detect a counter electromotive force exerted on thesecond magnetic member 168 by the first magnetic member 166 to therebyobtain a vibration angle of the optical device 106. As such, the firstmagnetic member 166 and the second magnetic member 168 of the drivingdevice 164 are used for detecting the vibration angle of the opticaldevice 106, thereby realizing low cost and multi-function laser-basedmeasurement device 100.

In some embodiments, when the optical device 106 vibrates, the positionof the first magnetic member 166 relative to the second magnetic member168 may change. The counter electromotive force exerted by the firstmagnetic member 166 on the second magnetic member 168 may change as theposition changes. The corresponding relationship between the position ofthe first magnetic member 166 and the counter electromotive force may bedetermined and saved, which may be later retrieved by the processor tocalculate the vibration angle of the optical device 106.

In some embodiments, the vibration angle of the optical device 106 maybe used to calculate a dimension and a shape of a three-dimensionalmodel of an external environment, and to calculate a distance betweenthe laser-based measurement device 100 and an obstacle in the externalenvironment.

In some embodiments, as shown in FIG. 2 , the laser-based measurementdevice 100 may include an angle detection device 184 located over orabove the optical device 106 and disposed along the rotation axis of theoptical device 106. The angle detection device 184 may be configured todetect the vibration angle of the optical device 106. As such, thevibration angle of the optical device 106 may be detected. In someembodiments, the rotation axis of the optical device 106 may be thefirst axis O3.

In some embodiments, the angle detection device 184 may be disposedstatically relative to the stator 124 of the motor 102. In FIG. 2 , theangle detection device 184 may include a Hall element 186. The opticaldevice 106 may include a magnetic member. As such, through non-contactdetection mechanism for detecting the vibration angle of the opticaldevice 106, the structure of the laser-based measurement device 100 issimplified.

In some embodiments, the magnetic member included in the optical device106 may be the first magnetic member 166. Thus, the first magneticmember 166 may be used for driving purposes and angle detectionpurposes. In some embodiments, the magnetic member and the firstmagnetic member 166 may be two separate members disposed separate fromone another, adjacent one another, or connected with one another.

In some embodiments, when the optical device 106 vibrates, the positionof the magnetic member relative to the Hall element 186 may change. Themagnetic field of the magnetic member relative to the Hall element 186may change correspondingly. Thus, a signal output by the Hall element186 may change with the above changes. The corresponding relationshipbetween the position of the magnetic member and the signal output by theHall element 186 may be determined and saved, which may be laterretrieved by the angle detection device 184 for calculating thevibration angle of the optical device 106.

In some embodiments, as shown in FIG. 2 , the angle detection device 184may include an image acquisition device 188 configured to obtain animage of the optical device and determine the vibration angle of theoptical device 106 based on the image. As such, through the non-contactdetection mechanism for detecting the vibration angle of the opticaldevice 106, the structure of the laser-based measurement device 100 issimplified.

In some embodiments, when the position of the optical device 106relative to the image acquisition device 188 changes, the image of theoptical device 106 acquired by the image acquisition device 188 maychange correspondingly. The corresponding relationship between theposition of the optical device 106 and the image of the optical device106 acquired by the image acquisition device 188 may be determined andsaved, which may be later retrieved by the angle detection device 184for calculating the vibration angle of the optical device 106. In someembodiments, the image acquisition device 188 may include aCharge-Coupled Device (“CCD”) or Complementary Metal Oxide Semiconductor(“CMOS”).

In some embodiments, the image acquisition device 188 may detect theimage of the optical device using any suitable image processingtechnology.

In some embodiments, the image acquisition device 188 may include alinear image sensor. The linear image sensor may output relatively asmaller amount of image data, which may reduce the complexity of theimage processing and analysis, hence increasing the speed of calculatingthe vibration angle. Furthermore, the linear image sensor may have arelatively small impact on the measurement of the dimension and shape ofthe three-dimensional model of the external environment. In someembodiments, the linear image sensor may include a linear CCD.

In some embodiments, the laser-based measurement device 100 may includea sliding ring and an angle detection device. The sliding ring may beelectrically connected with the angle detection device. The opticaldevice 106 may be vibratively disposed at the rotor 120 of the motor102. The angle detection device may be disposed at the rotor 120 of themotor 102 and may be configured to detect the vibration angle of theoptical device 106. As such, through the sliding ring, electric powermay be provided to the angle detection device located at the rotor 120to enable the angle detection device to detect the vibration angle ofthe optical device 106.

In some embodiments, the angle detection device may include at least oneof the following sensors or elements: an electrical encoder, apotentiometer, a magnetic sensor, a gyroscope, or an accelerometer. Insome embodiments, if the angle detection device includes two or more ofan electrical encoder, a potentiometer, a magnetic sensor, a gyroscope,or an accelerometer, when calculating the vibration angle of the opticaldevice 106, an average angle may be determined based on multiple anglescalculated by based on different signals output by different sensors ofthe angle detection device, and the average angle may be used as thevibration angle of the optical device 106. In some embodiments,different weights may be assigned to different angles calculated basedon different signals output by different sensors included in the angledetection device. The different angles may be multiplied by thedifferent weights to obtain adjusted angles. The multiple adjustedangles may be added up to obtain a final angle, which may be used as thevibration angle of the optical device 106. In some embodiments, one ormore sensors included in the angle detection device may be used as theprimary detection sensors, while another one or more sensors included inthe angle detection device may be used as backup detection sensors. Whenthe primary detection sensors fail, the angle detection device may usethe backup detection sensors to detect the vibration angle of theoptical device 106, thereby maintaining the normal operations of thelaser-based measurement device 100.

In some embodiments, the mechanism for driving the optical device 106 tovibrate may include using external air flow or sound wave to drive theoptical device 106 to vibrate. Correspondingly, the laser-basedmeasurement device 100 may include an air flow generating device and/ora sound wave generating device.

In some embodiments, as shown in FIG. 2 , the laser-based measurementdevice 100 may include a housing 190. The motor 102 may be disposed inthe housing 190. The housing 190 may include an opening 192 configuredfor the laser beam generated by the laser transmitter 104 and the laserbeam reflected by the external environment to pass through. As such, thehousing 190 may protect the motor 102, the laser transmitter 104, etc.,thereby increasing the reliability of the laser-based measurement device100.

In some embodiments, the housing 190 may include a hollow cylindricalshape. An upper end of the housing 190 may be provided with the opening192 (also referred to as a first opening 192). A lower end of thehousing 190 may be provided with a second opening 194. The size of thefirst opening 192 may be larger than the size of the second opening 194.The lower end of the housing 190 may include a supporting member 196extending toward the inside of the housing 190. The second opening 194may penetrate throughout the supporting member 196.

In some embodiments, the supporting member 196 may support the motor102. As shown in FIG. 2 , the circuit board 154 may be disposed outsideof the second opening 194, such that the laser-based measurement device100 may be connected with the other devices of the movable platform forpower supply and data and signal communication. During installation orassembling, the motor 102 may be placed into the inside of the housing190 through the first opening 192. The base 128 of the motor 102 may befixedly mounted to the supporting member 196.

In some embodiments, as shown in FIG. 1 and FIG. 2 , to further protectelements or components of the laser-based measurement device 100 locatedoutside of the housing 190 by preventing dust and water vapor fromentering into the laser-based measurement device 100, the laser-basedmeasurement device 100 may include a cover 198. The cover 198 may bedisposed on the housing 190 and may be configured to receive oraccommodate the optical device 106. The cover 198 may include alight-transmissive member 200 configured to allow the laser beamtransmitted by the laser transmitter 104 and the laser beam reflected bythe external environment to pass through.

In some embodiments, the cover 198 and the housing 190 may be detachablyand hermetically connected, which makes it convenient to mount the motor102 and other elements or components. As shown in FIG. 2 , the opticaldevice 106 may be located outside of the hollow shaft 108. The angledetection device 184 may include the image acquisition device 188 andthe Hall element 186 disposed along the first axis O3 of the opticaldevice 106. Each of the Hall element 186 and the image acquisitiondevice 188 may be used for detecting the vibration angle of the opticaldevice 106. When calculating the vibration angle of the optical device106, in some embodiments, an average angle may be determined based ontwo angles calculated based on the signal output by the Hall element 186and the signal output by the image acquisition device 188, respectively.The average angle may be used as the vibration angle of the opticaldevice 106. In some embodiments, different weights may be assigned tothe two angles calculated based on the signal output by the Hall element186 and the signal output by the image acquisition device 188,respectively. Each angle may be multiplied by the corresponding weightto obtain an adjusted angle. The two adjusted angles may be added up toobtain a final angle, which may be used as the vibration angle of theoptical device 106. In some embodiments, one of the Hall element 186 andthe image acquisition device 188 may be used as a primary detectiondevice, and the other one may be used as a backup detection device. Whenthe primary detection device fails, the laser-based measurement device100 may use the backup detection device to detect the vibration angle ofthe optical device 106, thereby maintaining the normal operations of thelaser-based measurement device 100.

In some embodiments, the Hall element 186 may be disposed at an innersurface of a ceiling plate 202 of the cover 198. The image acquisitiondevice 188 may be disposed at an inner surface of the light-transmissivemember 200 of the cover 198. In some embodiments, the light-transmissivemember 200 of the cover 198 may include a light-transmissive plate forthe laser beam transmitted by the laser transmitter 104 to pass through.In some embodiments, the light-transmissive member 200 of the cover 198may have a horn shape. A lower end of the light-transmissive member 200may be relatively larger and may be connected with the circumference ofthe first opening 192 of the housing 190. An upper end of thelight-transmissive member 200 may be relatively smaller and may beconnected with the ceiling plate 202 of the cover 198.

In some embodiments, the laser-based measurement device 100 may includethe laser transmitter 104, the laser receiver 150, the motor 102, theoptical device 106, and the driving device 164. The optical device 106may be disposed at the motor 102. The motor 102 may drive the opticaldevice 106 to rotate. The optical device may be configured to guide thelaser beam transmitted by the laser transmitter 104 to an externalenvironment, or guide the laser beam reflected by the externalenvironment back to the laser receiver 150. The driving device 104 mayinclude the first magnetic member 166 and the second magnetic member 68.The first magnetic member 166 may be connected with the optical device106. The driving device 164 may be configured to drive the firstmagnetic member 166 and the second magnetic member 168 to interact withone another to drive the optical device 106 to vibrate, thereby changingthe guiding direction of the laser beam that pass through the opticaldevice 106.

In some embodiments, the laser-based measurement device 100 drive theoptical device 106 to rotate back and forth through the interactionforces between magnetic fields, thereby causing the optical device 106to vibrate. In some embodiments, the driving method may be a wirelessdriving method, which may not use the contact-style sliding ring design,thereby increasing the reliability of the laser-based measurement device100.

Descriptions of the following embodiments of the laser-based measurementdevice 100 may refer to the descriptions of the laser-based measurementdevice 100 in the above embodiments.

In some embodiments, the motor 102 may be configured to drive theoptical device 106 to rotate around the first axis O3, and the drivingdevice 164 may be configured to drive the optical device 106 to rotatearound the second axis O4 back and forth, thereby causing the opticaldevice 106 to vibrate.

In some embodiments, the first axis O3 and the second axis O4 are notparallel with one another.

In some embodiments, the first axis O3 and the second axis O4 cross oneanother.

In some embodiments, the first axis O3 crosses the second axis O4perpendicularly.

In some embodiments, the laser transmitter 104 is located on the firstaxis O3.

In some embodiments, the laser receiver 150 is located on the first axisO3.

In some embodiments, the laser-based measurement device 100 may includea transmission mechanism configured to connect the rotor 120 of themotor 102 and the optical device 106. The rotor 120 of the motor 102 maycause the optical device 106 to rotate through the transmissionmechanism.

In some embodiments, the transmission mechanism may include at least oneof a gear and a conveyor belt.

In some embodiments, the first magnetic member 166 includes a permanentmagnet, and the second magnetic member 168 includes an electromagnet.

In some embodiments, the electromagnet is distributed around therotation axis of the optical device 106.

In some embodiments, the electromagnet is symmetrically distributedaround the rotation axis of the optical device 106.

In some embodiments, the electromagnet may include an iron core 170 anda set of coil winding 172. The iron core 170 may include a ring-shapedgroove 174. The set of coil winding 172 may include a continuous ringshape, and may be at least partially disposed in the ring-shaped groove174.

In some embodiments, the electromagnet may include an iron core 170 anda set of coil winding 172. The iron core 170 may include a ring-shapedgroove 174. The set of coil winding 172 may include a discontinuous ringshape and may be at least partially disposed in the ring-shaped groove174.

In some embodiments, the laser-based measurement device 100 may includethe laser transmitter 104, the laser receiver 150, the optical device106, the driving device 164, the motor 102, and the angle detectiondevice 184. The motor 102 may be configured to drive the optical device106 to rotate. The optical device may be configured to guide out thelaser beam transmitted by the laser transmitter, or guide in the laserbeam reflected by the external environment to the laser receiver 150.The driving device 164 may be configured to drive the optical device 106to thereby change the guiding direction of the laser beam that passesthrough the optical device 106. The angle detection device 184 may bestatically disposed relative to the stator 124 of the motor 102. Theangle detection device 184 may be configured to detect the vibrationangle of the optical device 106.

In some embodiments, the laser-based measurement device 100 mayaccurately measure a parameter of the external environment by detectingthe vibration angle of the optical device 106.

Descriptions of the following embodiments of the laser-based measurementdevice 100 may refer to the descriptions of the laser-based measurementdevice 100 in the above embodiments.

In some embodiments, the motor 102 may be configured to drive theoptical device 106 to rotate around the first axis O3, and the drivingdevice 164 may be configured to drive the optical device 106 to rotatearound the second axis O4 back and forth, thereby causing the opticaldevice 106 to vibrate.

In some embodiments, the first axis O3 and the second axis O4 are notparallel with one another.

In some embodiments, the first axis O3 and the second axis O4 cross oneanother.

In some embodiments, the first axis O3 crosses the second axis O4perpendicularly.

In some embodiments, the laser transmitter 104 is located on the firstaxis O3.

In some embodiments, the laser receiver 150 is located on the first axisO3.

In some embodiments, the laser-based measurement device 100 may includea transmission mechanism configured to connect the rotor 120 of themotor 102 and the optical device 106. The rotor 120 of the motor 102 maycause the optical device 106 to rotate through the transmissionmechanism.

In some embodiments, the transmission mechanism may include at least oneof a gear and a conveyor belt.

In some embodiments, the angle detection device 184 may include thefirst magnetic member 166, the second magnetic member 168, and aprocessor. The first magnetic member 166 may be connected with theoptical device 106. The processor may be configured to detect a counterelectromotive force exerted on the second magnetic member 168 by thefirst magnetic member 166 to thereby obtain a vibration angle of theoptical device 106.

In some embodiments, the driving device 164 may include the firstmagnetic member 166 and the second magnetic member 168. The firstmagnetic member 166 may be connected with the optical device 106. Thedriving device 164 may be configured to cause the first magnetic member166 and the second magnetic member 168 to interact with one another tothereby cause the optical device 106 to vibrate.

In some embodiments, the first magnetic member 166 may include apermanent magnet, and the second magnetic member 168 may include anelectromagnet.

In some embodiments, the electromagnet may be distributed around therotation axis of the optical device 106.

In some embodiments, the electromagnet may be symmetrically distributedaround the rotation axis of the optical device 106.

In some embodiments, the electromagnet may include the iron core 170 andthe set of coil winding 172. The iron core 170 may include a ring-shapedgroove 174. The set of coil winding 172 may include a continuous ringshape, and may be at least partially disposed in the ring-shaped groove174.

In some embodiments, the electromagnet may include the iron core 170 andthe set of coil winding 172. The iron core 170 may include a ring-shapedgroove 174. The set of coil winding 172 may include a discontinuous ringshape, and may be at least partially disposed in the ring-shaped groove174.

In some embodiments, the angle detection device 184 may be disposedabove the optical device 106 along the rotation axis of the opticaldevice 106.

In some embodiments, the angle detection device 184 may include a Hallelement 186. The optical device 106 may include a magnetic member.

In some embodiments, the angle detection device 184 may include an imageacquisition device 188 configured to obtain an image of the opticaldevice and determine the vibration angle of the optical device 106 basedon the image. In some embodiments, the image acquisition device 188 mayinclude a linear image sensor.

In some embodiments, the laser-based measurement device 100 may includea sliding ring. The sliding ring may be electrically connected with thedriving device 164. The driving device 164 and the optical device 106may be disposed at the rotor 120 of the motor 102.

The present disclosure also provides a movable platform including anyembodiment of the disclosed laser-based measurement device 100. Themovable platform may include a platform body. The laser-basedmeasurement device 100 may be mounted on the platform body.

A person having ordinary skills in the art can appreciate that theadvantages of the movable platform include the advantages of anyembodiment of the laser-based measurement device.

In some embodiments, the movable platform may include at least one of anunmanned aircraft, a vehicle, and a remote control vehicle.

In some embodiments, the movable platform having the laser-basedmeasurement device 100 may perform measurements on the externalenvironment. The measurements may include, for example, measuring thedistance between the movable platform and an obstacle, which may be usedfor obstacle avoidance purposes. The measurements may also include, forexample, two-dimensional or three-dimensional survey of the externalenvironment.

In some embodiments, when the laser-based measurement device 100 isimplemented in an unmanned aircraft, the movable platform may be thebody of the unmanned aircraft. When the laser-based measurement device100 is implemented in a vehicle, the movable platform may be the body ofthe vehicle. When the laser-based measurement device 100 is implementedin a remote control vehicle, the movable platform may be the body of theremote control vehicle.

A person having ordinary skill in the art can appreciate that when thedescription mentions “certain embodiments,” “an embodiment,” “oneembodiment,” “some embodiments,” “illustrative embodiment,” “anexample,” “a specific example,” or “some examples,” it means thatcharacteristics, structures, or features related to the embodiment orexample are included in at least one embodiment or example of thepresent disclosure. Thus, when the description uses these or similarterms, it does not necessarily mean the same embodiment or example.Various characteristics, structures, or features of various embodimentsmay be combined in a suitable manner. Various characteristics,structures, or features of one embodiment may be incorporated in anotherembodiment.

It should be understood that in the present disclosure, relational termssuch as first and second, etc., are only used for illustrative purposes,and do not necessarily imply or indicate the relative importance orimply the number of technical features described by these terms.Therefore, a “first” or “second” feature may include, explicitly orimplicitly, one or more such features. The term “multiple” means two ormore than two, unless otherwise defined.

The above descriptions of various embodiments of the present disclosureare illustrative, and do not limit the scope of the present disclosure.A person having ordinary skills in the art can make changes,modifications, substitutions, and variations based on the presentdisclosure. The scope of the present disclosure is defined by thefollowing claims and the equivalents.

What is claimed is:
 1. A laser-based measurement device comprising: alaser transmitter; a laser receiver; an optical device configured to:guide a laser beam emitted by the laser transmitter out of thelaser-based measurement device, and guide the laser beam reflected by anexternal environment in the laser receiver; a motor including a statorand a rotor, the rotor including a hollow rotor shaft enclosed by thestator, and the motor being configured to drive the optical device torotate around an axis; and a driving device including: a first magneticmember connected to the optical device; and a second magnetic memberincluding a set of coil disposed in the hollow rotor shaft; wherein thedriving device is configured to drive the optical device to vibratethrough interaction between the first magnetic member and the secondmagnetic member, to change a guiding direction of the laser beam passingthrough the optical device.
 2. The laser-based measurement device ofclaim 1, wherein: the axis is a first axis; the motor further includes ahollow motor shaft enclosed by the stator and the rotor; the lasertransmitter is disposed in the hollow motor shaft; the laser receiver isat least partially disposed in the hollow motor shaft; and the drivingdevice is configured to drive the optical device to rotate around asecond axis back and forth, to cause the optical device to vibrate. 3.The laser-based measurement device of claim 2, wherein the first axisand the second axis are not parallel to one another.
 4. The laser-basedmeasurement device of claim 3, wherein the first axis and the secondaxis cross one another.
 5. The laser-based measurement device of claim3, wherein the first axis crosses the second axis perpendicularly. 6.The laser-based measurement device of claim 2, wherein at least one ofthe laser transmitter or the laser receiver is located on the firstaxis.
 7. The laser-based measurement device of claim 2, furthercomprising: a transmission mechanism connected to the rotor of the motorand the optical device; wherein the rotor of the motor is configured tocause the optical device to rotate through the transmission mechanism.8. The laser-based measurement device of claim 7, wherein thetransmission mechanism includes at least one of a gear or a conveyorbelt.
 9. The laser-based measurement device of claim 1, wherein thefirst magnetic member includes a permanent magnet, and the secondmagnetic member includes an electromagnet.
 10. The laser-basedmeasurement device of claim 9, wherein the electromagnet surrounds arotation axis of the optical device.
 11. The laser-based measurementdevice of claim 10, wherein the electromagnet is symmetrical around therotation axis.
 12. The laser-based measurement device of claim 10,wherein the electromagnet includes: an iron core including a ring-shapedgroove; and the set of coil winding having a continuous ring shape andat least partially disposed in the ring-shaped groove.
 13. Thelaser-based measurement device of claim 10, wherein the electromagnetincludes: an iron core including a ring-shaped groove; and the set ofcoil winding having a discontinuous ring shape and at least partiallydisposed in the ring-shaped groove.
 14. The laser-based measurementdevice of claim 1, wherein the first magnetic member is disposed at anedge location of a surface of the optical device facing against thelaser transmitter.
 15. The laser-based measurement device of claim 1,wherein the second magnetic member surrounds a rotation axis of theoptical device.
 16. A laser-based measurement device comprising: a lasertransmitter; a laser receiver; an optical device configured to: guide alaser beam emitted by the laser transmitter out of the laser-basedmeasurement device, and guide the laser beam reflected by an externalenvironment in the laser receiver; a motor including a stator and arotor, the rotor including a hollow rotor shaft enclosed by the stator,and the motor being configured to drive the optical device to rotatearound an axis; a driving device configured to drive the optical deviceto vibrate to change a guiding direction of the laser beam passingthrough the optical device, the driving device including a set of coildisposed in the hollow rotor shaft; and an angle detection deviceconfigured to detect a vibration angle of the optical device.
 17. Thelaser-based measurement device of claim 16, wherein: the axis is a firstaxis; the motor further includes a hollow motor shaft enclosed by thestator and the rotor; the laser transmitter is disposed in the hollowmotor shaft; the laser receiver is at least partially disposed in thehollow motor shaft; the driving device is configured to drive theoptical device to rotate around a second axis back and forth, to causethe optical device to vibrate; and the angle detection device isstatically disposed relative to the stator of the motor.
 18. Thelaser-based measurement device of claim 17, wherein the first axis andthe second axis are not parallel to one another.
 19. The laser-basedmeasurement device of claim 18, wherein the first axis and the secondaxis cross one another.
 20. A movable platform comprising: a platformbody; and a laser-based measurement device mounted at the platform bodyand including: a laser transmitter; a laser receiver; an optical deviceconfigured to: guide a laser beam emitted by the laser transmitter outof the laser-based measurement device, and guide the laser beamreflected by an external environment in the laser receiver; a motorincluding a stator and a rotor, the rotor including a hollow rotor shaftenclosed by the stator, and the motor being configured to drive theoptical device to rotate around an axis; and a driving device including:a first magnetic member connected to the optical device; and a secondmagnetic member including a set of coil disposed in the hollow rotorshaft; wherein the driving device is configured to drive the opticaldevice to vibrate through interaction between the first magnetic memberand the second magnetic member, to change a guiding direction of thelaser beam passing through the optical device.